JP5965561B1 - Hardware supply equipment - Google Patents

Abstract

[PROBLEMS] To eliminate the need for complicated preparation work and a large number of shelves when attaching or attaching fittings and fittings to a pre-cut material for a hardware method. A hardware supply device 100 provided in the vicinity of a wood unloading portion of a wood precut processing facility 1 includes an articulated robot 110, a hardware mixed holding portion 120, a temporary placement portion 130, and a hardware separation holding 140, and a robot control device 160. Is based on the image data PHT01 from the camera 151 and identifies the hardware that is not under the other hardware as an object to be picked up and moves from the hardware mixed holding unit 120 to the temporary placement unit 130, and the image data PHT02 from the camera 152 Are matched with the hardware specification data KMD to identify the type of hardware and move it to one of the predetermined separation holding areas 141, 142,... For each structural member that has reached 31, hardware necessary for mounting is collected and supplied from the separation holding area. [Selection] Figure 1

Description

  The present invention ships with a joint or joint fitting attached to or attached to a pre-cut material for a metal construction method that joins structural members constituting the frame of a wooden house together through a joint or joint fitting. The present invention relates to a hardware supply device.

  Applicant is concerned with the “Hardware Construction Method” regarding “Pre-cut materials with holes, notches, slits, grooves, carvings, etc. for mounting hardware, and the type, location and direction of hardware to be attached to the pre-cut materials during assembly. Drift pin can be driven even on horizontal members with different dimensions and types of hardware to be attached, etc., and the operation for that is accurate. "A drift pin driving device (Patent Document 2)" is proposed.

  In addition, even if it is other than the applicant, regarding “the hardware construction method”, “automatic attachment system (patent document 3) for automatically attaching the joint hardware by specifying the type of the precut wood to be automatically conveyed” or “precut material” A joint metal supply control system (Patent Document 4) is proposed in which a joint hardware is supplied onto a hardware supply base arranged adjacently and an attachment instruction is displayed on a display device.

JP2007-50706 (Abstract, FIGS. 10 to 12) JP 2009-108564 (Summary, FIG. 2) JP 2007-247181 (Summary, FIG. 2) JP2015-225350 (Abstract, FIG. 1)

  The technique disclosed in Patent Document 4 is based on CAD data, picks up the joint hardware from the parts shelf with the pick-up device, delivers it to the hardware supply device so that it becomes a set for each mounting position, and attaches the precut material in the longitudinal direction. One set of joint hardware is supplied for each position.

  The technology disclosed in Patent Document 3 carries racks containing hozo pipes, connection fittings, dowel bolts, and donuts according to different precut materials so that they are arranged in a tandem arrangement along the stationary conveyance path section. The hardware is taken out from the inside and automatically attached.

  By the way, as described in Patent Document 1, there are many types of joint metal fittings such as a beam support metal fitting, a hozo pipe, a drift pin, a bolt / nut, and a battledore metal fitting. There are many kinds of hardware used for hardware construction methods, such as different for each manufacturer, and there are various kinds, sizes, and numbers of hardware used for each house and each structural material. For this reason, in the techniques of Patent Documents 3 and 4 that perform automatic supply and automatic mounting of hardware, it is necessary to prepare a huge number of racks and huge parts shelves, and preparation before automatic supply and automatic mounting There is a problem that the work becomes very complicated.

  Therefore, the present invention eliminates the need for complicated preparation work and the preparation of a huge number of shelves when attaching or attaching hardware to a structural member that has been precut for the hardware method. Objective.

The hardware supply apparatus of the present invention made to achieve the above object uses a multi-joint robot driven and controlled by a robot control means, and a plurality of hardware to be attached to a structural member precut for a hardware construction method. An apparatus for supplying from among various kinds of hardware, characterized by having the following configuration.
(1A) Within a range in which hardware can be handled by the articulated robot, a hardware mixed holding unit capable of holding a plurality of types of hardware in a mixed loading state, and holding the plurality of types of hardware separately classified by type. A hardware separation holding part that can be used.
(1B) To the robot control means, hardware identification information input means for inputting hardware identification information for identifying the type of the hardware and hardware mounting information in which hardware to be attached for each structural member is associated are input. Hardware installation information input means and hardware supply timing input means for inputting hardware supply timing for supplying hardware to a structural member to be attached are provided.
(1C) The robot control means causes the articulated robot to execute a pick-up operation so as to pick up hardware one by one from the hardware mixed holding unit, and sets the type of the picked-up hardware as the hardware identification information. Based on the result of the identification, a hardware sorting operation that causes the articulated robot to perform a transfer operation of the picked-up hardware so that the hardware is sorted and held by type in the hardware sorting holding unit. Provide control means.
(1D) The robot control means identifies the hardware to be attached to each structural member based on the hardware attachment information, and collects the hardware from the hardware separation holding unit based on the specific result. The hardware collection operation control means for executing the hardware collection operation, and the hardware supply operation for supplying the hardware collected by the hardware collection operation to the structural member to which the hardware is attached based on the hardware supply timing. Hardware supply operation control means to be executed by the articulated robot.

  According to the hardware supply device of the present invention, the robot control means drives and controls the articulated robot, and the hardware is loaded one by one from the hardware mixed holding unit provided within a range in which the hardware can be handled by the articulated robot. Like the pick-up, the articulated robot is caused to execute pick-up operation. Since the hardware identification information for identifying the type of hardware is input from the hardware identification information input means to the robot control means, the robot control means picks up from the hardware mixed holding unit based on the hardware identification information. The type of hardware that has been used can be identified. The robot control means controls and controls the articulated robot based on the identified result, and sorts and holds the articulated robot by type with respect to the hardware sorting holding unit provided within the range where the hardware can be handled by the articulated robot. The articulated robot is caused to execute a hardware transfer operation so as to achieve the state.

  The robot control means is configured to perform an operation of temporarily placing a hardware object in a temporary place and picking it up between the picking-up operation and the transferring operation when the articulated robot performs the above-described operation. You may make it add the control to perform. In addition, an individual image is identified by capturing an image in which the hardware is mixedly mounted on the hardware mixed holding unit, and the robot control means cuts out the image of the individually identified hardware and compares it with the hardware identification information to identify the hardware type. After performing the above, it is possible to configure such that the pick-up operation and the transfer operation by the articulated robot are continuously executed. Furthermore, the robot control means causes the articulated robot to pick up the hardware from the hardware mixed holding section, transfer it to the hardware separation holding section, temporarily place it, and temporarily store it in the hardware separation holding section. It is also possible to perform an operation of moving the hardware to a position to be finally sorted and held after the identification. Note that the physical type such as size and weight can be used in addition to the image for identifying the type of hardware. In addition, when performing identification using an image, an operation of changing the direction of a hardware by an articulated robot may be incorporated at the time of imaging.

  In the hardware supply apparatus of the present invention, the hardware control information by the hardware attachment information input means and the hardware supply timing by the hardware supply timing input means are input to the robot control means in addition to the hardware identification information. Therefore, the robot control means identifies the hardware to be attached to each structural member based on the hardware attachment information, and executes the hardware collection operation to the articulated robot so as to collect the hardware from the hardware separation holding unit based on the specific result. Let Further, the robot control means causes the articulated robot to execute a hardware supply operation for supplying the hardware collected by the hardware collection operation to the structural member to which the hardware is attached based on the hardware supply timing.

  As a result, according to the hardware supply device of the present invention, even if it is carried into the hardware mixed holding unit in a state where a large number of hardware of different types and dimensions are mixed, before performing the hardware supply operation, As a result of performing the picking-up operation and the transporting operation of the hardware so that it is separated and held in the hardware segregation holding unit, the hardware collecting operation executed according to the hardware mounting information can be smoothly executed, and thus collected. It is possible to accurately supply hardware according to the hardware supply timing. Note that the hardware collection operation only needs to be completed before the hardware supply operation is completed. Accordingly, the hardware collecting operation and the hardware supplying operation may be continuously executed at every hardware supply timing, or the hardware collecting operation for a predetermined number of structural members may be executed in advance to perform the hardware collection for each structural member. Prepare a group and supply a group of hardware corresponding to the structural member to be attached at the same time, or pick one from the group of hardware. Finally, the entire hardware group may be supplied.

  Here, the hardware identification information input to the robot control means is “(a1) hardware used only in a specific wooden house”, “(a2) various kinds of hardware in general circulation”, “(a3) However, when (a2) and (a3) are input, it is not necessary to input (a1). This is because (a1) is eventually included in (a2) and (a3). The hardware identification information by the hardware identification information input means may be input before the hardware picking-up operation from the hardware mixed holding unit, and the hardware control information side includes a hardware identification information storage means, for example, ( The hardware identification information of a2) and (a3) may be input in advance.

  The hardware attachment information input to the robot control means includes “(b1) structural member for one wooden house”, “(b2) pillar material for one wooden house”, “(b3) wooden house one”. “Bridge for building” or “(b4) Structural member processed in half a day”, “(b5) Structural member processed in a day”, or “(b6) Structural member processed in a week” It may be a part of these, or may be a part of “(b7) specific structural member”. The hardware attachment information by the hardware attachment information input means may be input before executing the hardware collection operation. In addition, when the precut processing data for processing wood for the hardware construction method includes hardware specific data regarding the hardware to be attached in addition to the processing content for each structural member, the precut processing data itself may be used as the hardware attachment information. Of course, in this case, pre-cut processing data storage means may be provided on the robot control means side, and pre-cut processing data may be input and stored.

  In addition, the hardware supply timing input to the robot control means may be a processing schedule based on precut processing data, or input as a command to be output every time the precut processing apparatus carries out a processed structural member. It is good also as a structure input as sensor information which detects that a structure and a structural member were carried in with respect to the hardware supply apparatus.

Here, the hardware supply device of the present invention may further include the following configuration.
(1E) The robot control means includes hardware required quantity calculating means for calculating a required quantity for each type of necessary hardware based on the input hardware attachment information, and the hardware required quantity calculating means needs to calculate Provided with necessary quantity fulfillment means for repeatedly executing the metal sorting operation by the hardware sorting operation control means so as to satisfy the quantity.

  By providing this configuration as well, for example, when hardware attachment information is input for “(b1) structural member for one wooden house”, the hardware required quantity calculation means is a hardware necessary for one wooden house. Calculate the required quantity for each type. Then, based on the calculation result, the necessary quantity fulfilling means executes the sorting operation of the hardware by the hardware sorting operation control means, so that only the necessary quantity of the necessary types of hardware is stored in the hardware sorting holding unit for the wooden house. Can be separated and held. As a result, when the structural members for one wooden house are continuously precut, it is possible to supply the hardware quickly and accurately to the structural members that have been precut.

  In this case, it is also preferable to provide “(1F) insufficient information output means for outputting information relating to a shortage of hardware when it becomes impossible to repeatedly perform the hardware sorting operation by the necessary quantity fulfillment means”. . This is because by providing such a configuration, it is possible to notify the operator of the possibility that the hardware is insufficient during the pre-cut processing operation, and to prompt additional loading of the hardware.

In addition, these hardware supply devices of the present invention may further include the following configuration.
(1G) A hardware preparation unit capable of preparing the hardware in a state where the hardware is separated for each structural member to be attached is provided within a range in which the hardware can be handled by the articulated robot.
(1H) The hardware collection operation control means is configured as means for executing the collection operation by the articulated robot so that hardware is prepared as a set for each structural member in the hardware preparation unit, and the hardware supply operation control The means is configured as a means for executing the hardware supply operation by the articulated robot so as to supply hardware prepared as a set for each structural member to the hardware subsection to the structural member to be attached. Being.

  By providing such a configuration, pre-cut processing is performed in parallel with the sorting operation so as to satisfy the required quantity of the types of hardware necessary for mounting on the structural members of a wooden house as described above. This is because by supplying a set of hardware to be attached to a structural member whose processing order is fast on the schedule, it is possible to quickly perform hardware supply. In addition, by executing the hardware preparation operation, there is an effect that an empty area is secured in the hardware separation holding unit, and the hardware separation holding can be effectively used.

  In this case, it is preferable to adopt a configuration of “(1I) preparation of hardware to the hardware preparation unit is performed with priority given to a structural member with a fast processing order”. Conversely, a configuration may be adopted in which “(1J) preparation of hardware to the hardware preparation unit is performed with priority given to a structural member to which a special hardware is attached”.

In addition, these hardware supply devices of the present invention may further include the following configuration.
(2A) The robot control means has an area for holding hardware according to type so that the hardware is arranged in a predetermined direction with the hardware facing each other without overlapping each other. Provide area setting means for setting.
(2B) Based on the setting by the area setting unit, the hardware sorting operation control unit holds the hardware in the hardware sorting holding unit so that the hardware is arranged in a predetermined direction without overlapping. Furthermore, it is comprised as a means to perform the said transfer operation | movement by the said articulated robot.

  This is because, by including an area setting unit and performing the separation of hardware based on the setting of the area by the area setting unit, it is possible to execute the separation and holding of the hardware according to the work content of the precut processing. In addition, as a result of the metal parts being held in the predetermined direction in the metal separation holding unit without being overlapped with each other, the metal parts can be quickly collected when the hardware is supplied to the structural member. .

  In this case, “(2C) the metal separation holding part is provided with an insertion member through which a holed metal can be inserted, and the holed metal is inserted through the insertion member. By providing a configuration that can perform segregation and holding '', it is possible to easily prevent overlapping of segregated and held hardware, or to direct a predetermined direction, and use the raised wall as a hardware segregation holding unit. It can also be used.

  In order to further enhance these effects, “(2D) the hardware attachment information input means is configured as means for inputting hardware attachment information for a series of structural members to be continuously precut according to a precut machining schedule. The area setting means is a means for calculating the necessary types of hardware and the required quantity for each hardware based on the hardware attachment information for the series of structural members and setting the area. Adopt it. By adopting such a configuration as well, it is possible to reset the area setting of the hardware separation holding unit each time according to the pre-cut processing schedule, and the entire area of the hardware separation holding section in a limited space can be efficiently This is because it can be used.

Here, the hardware supply apparatus of the present invention can further include the following configuration.
(2E) Provided with a returnable box storage place in which a returnable box in which a mover carrying a hardware is carried can be placed in the hardware mixed load holding portion within a range in which the hardware can be handled by the articulated robot, and the robot control means includes the returnable box An empty box determining means for determining whether or not an empty returnable box is placed in the storage area; and when the empty box determining means determines that an empty returnable box is placed, the empty returnable box is A separation holding unit adding means for adding to the hardware separation holding unit is provided.

  This is because there is a limit to the area of the hardware sorting and holding unit, but by adding an empty return box to the hardware sorting and holding unit, it is possible to sort and hold more types and numbers of hardware.

In this case, the hardware supply device of the present invention can further include the following configuration.
(2F) The robot control means specifies the hardware to be attached to a predetermined number of structural members based on the hardware attachment information when the hardware remains in the hardware mixed holding unit, and the articulated robot On the other hand, for each of the predetermined number of structural members, the specified hardware is collected from the hardware separation holding unit, and the hardware set preparation unit is set within a range in which the hardware can be handled by the articulated robot. A pre-preparation operation execution means for executing a pre-preparation operation for preparing the hardware to be attached to a set as a set.

  This is because by executing the preparatory preparation operation, it becomes easy to secure an empty area in the hardware sorting and holding unit, and it is not necessary to overdo the area setting by the area setting means.

In this case, the hardware supply device of the present invention can further include the following configuration.
(2G) The robot control means includes transfer availability determination means for determining whether or not the transfer operation for separating and holding the hardware with respect to the hardware segregation holding unit is not possible, and determining whether the transfer is possible or not. When the means determines that the transfer operation can no longer be performed, the advance preparation operation execution means is activated.

  This is because an empty area is secured in the hardware sorting holding unit, and the hardware sorting operation can be prevented from stagnation.

These hardware supply devices of the present invention can further include the following configurations.
(2H) The hardware supply operation control means, as the hardware supply operation, stores the hardware in a predetermined storage container so as to be a set for each structural member, and then becomes an attachment target of the hardware storing the storage container. It is comprised as a means to make the said articulated robot perform the operation | movement supplied with respect to a structural member.

  According to the hardware supply apparatus having such a configuration, when supplying hardware to the structural member, the structural member is stored and supplied as a set for each structural member in a storage container such as a bag or a box. When there are a large number of hardware to be attached to, the subsequent shipping, manual work, or management when performing attachment in a semi-automated state is facilitated.

These hardware supply devices of the present invention can further include the following configurations.
(3) Based on the state of the structural member to be attached before the hardware is supplied and the state of the structural member to be attached after the hardware is supplied, the hardware is appropriately supplied by the articulated robot. Appropriateness determination means for determining whether or not

  This is because according to the hardware supply apparatus having such a configuration, it can be ensured that the hardware is accurately supplied to each structural member. For this reason, the configuration of “(3A) the suitability determination means should include a determination result output means for outputting the determination result when it is determined that the supply of hardware is not appropriate” may be employed. .

More specifically, the hardware supply apparatus of the present invention that includes the suitability determination unit may further include the following configuration.
(4A) The hardware identification information includes hardware weight information relating to the individual weight of each hardware, and the total weight of the hardware supplied to each structural member by the hardware supply operation control means is directly or indirectly determined. It is equipped with a weight measuring means for measuring.
(4B) The suitability determining means is calculated by the hardware weight calculating means for calculating the sum of the weights of the hardware attached to the respective structural members based on the hardware mounting information and the hardware weight information, and the hardware weight calculating means. It is configured as means for determining whether or not the hardware is properly supplied to each structural member by comparing the measured weight with the measurement result by the weight measuring means.

  The structural member to be attached refers to a state in which a slit groove, a hozo pipe insertion hole, a bolt insertion hole, and the like for attaching a hardware for a hardware method are machined by a precut machining apparatus. Before the hardware is supplied, only wood is used, but after the hardware is supplied, the wood and the hardware are changed, so that the weight changes before and after the hardware is supplied. The type and number of hardware are specified by hardware mounting information related to the structural member to be mounted, and the individual information of the hardware is specified by hardware identification information, so that the total weight of hardware supplied for mounting to the structural member can be calculated. Can be calculated. Therefore, according to the hardware supply apparatus provided with the configurations of (4A) and (4B), it is possible to accurately determine whether or not the supply of hardware is appropriately performed in the type and number. Here, the structural member has a missing portion due to processing such as a slit groove or a hozo pipe insertion hole, and further, since the specific gravity is not constant like a metal material, the structural member is determined from the material composition, material width, and material length. An error occurs when the weight is calculated. On the other hand, by making a determination by comparing the weights of the structural members before and after the hardware supply, it is possible to prevent a determination error due to an error such as the type of processing or variation in specific gravity.

These hardware supply devices of the present invention can further include the following configurations.
(11A) The hardware attachment information includes hardware attachment position information indicating the attachment position of the hardware in each structural member.
(11B) The robot control means includes hardware attachment operation control means for causing the articulated robot to execute a hardware attachment operation for attaching a hardware to each attachment position of each structural member based on the hardware attachment position information.

  By using an articulated robot to supply the hardware collected from the hardware separation holding unit as a hardware attachment operation, further automation can be achieved.

In this case, the following configuration can also be provided.
(12A) The hardware identification information includes hardware weight information related to the individual weight of each hardware, and measures the weight of the structural member before mounting the hardware and the weight of the structural member after mounting the hardware before and after mounting. It is equipped with.
(12B) The robot control means calculates hardware weight calculating means for calculating a sum of weights of hardware attached to each structural member based on the hardware attachment information and hardware weight information, and the hardware weight calculating means calculates The suitability judging means for judging whether or not the hardware is properly attached to each structural member by comparing the weight before mounting the hardware and the weight after mounting the hardware. Be prepared.

  If the difference between the weight of the structural member before mounting the hardware and the weight of the structural member after mounting the hardware corresponds to the total weight of the hardware mounted on the structural member, the hardware is properly mounted. Can be determined. The structural member has a portion that is missing by forming slit grooves, hozo pipe insertion holes, etc., and the specific gravity is not constant like metal materials. Although an error occurs when the weight is calculated, an error in determination due to an error such as the type of processing and variation in specific gravity can be prevented by performing the determination based on the comparison of the weight of the structural member before and after mounting the hardware.

The hardware supply apparatus configured to execute these hardware mounting operations can further include the following configuration.
(13A) It is provided with an image pickup means for picking up an image of the structural member after the hardware is mounted by the hardware mounting operation.
(13B) The robot control unit determines whether or not each hardware is attached to an appropriate position with respect to the structural member based on the image captured by the imaging unit and the hardware mounting position information. Providing appropriateness determination means to determine.

  For example, by attaching a hozo pipe, it can be determined whether or not the hozo pipe is attached at an appropriate position depending on whether or not the silhouette of the protrusion of the hozo pipe exists from the end of the structural member.

In this case, the following configuration can also be provided.
(14) The hardware identification information includes hardware color information corresponding to an individual color of the hardware, and the suitability determination unit is configured as a unit that performs the determination by adding the hardware color information to a determination condition. That.

  Due to the difference in color between wood and hardware, the image of the structural member with the hardware attached is imaged with the color specific to the hardware at the position where the hardware is attached, so information such as the mounting position and size of the hardware is imaged. From this, it can be determined whether or not the hardware is properly attached.

The hardware supply apparatus configured to execute these hardware mounting operations can further include the following configuration.
(15A) Provided with a temperature measuring means for measuring data relating to the surface temperature of the structural member after the hardware is attached by the hardware attaching operation.
(15B) Whether the robot control means is in a state where each hardware is attached to an appropriate position with respect to the structural member based on the surface temperature measured by the temperature measurement means and the hardware attachment position information. Appropriateness determination means for determining whether or not

  Since the specific heat differs between wood and hardware, the surface temperature of the structural member with the hardware attached is measured at a different temperature from the part where the surface of the wood appears at the location where the hardware is attached. Information such as position and size is acquired from the surface temperature, and it can be determined whether or not the hardware is properly attached.

The hardware supply apparatus configured to execute these hardware mounting operations can further include the following configuration.
(16A) The hardware includes a hozo pipe, and a hoso pipe insertion hole is formed in the structural member to which the hozo pipe is attached by the precut processing.
(16B) The robot control means expands the opening of the hoso-pipe insertion hole before executing the attachment operation of the hozo-pipe by the hardware attachment operation control means for the structural member in which the hozo-pipe insertion hole is to be formed. It is provided with a striking motion control means for causing the articulated robot to perform a striking motion of striking a striking member for forming an open guide portion in the axial direction of the hozo pipe insertion hole based on the hardware attachment information.

  Prior to attaching the hozopipe to the structural member, the expansion guide part is formed at the opening of the hozopipe insertion hole, so that the hozopipe insertion operation by the articulated robot can be executed smoothly and installation errors can be prevented. Because it becomes.

In this case, the following configuration can also be provided.
(17) The robot control means determines whether or not the hozo pipe insertion hole is properly formed based on whether or not the hitting member has been driven from the end surface of the structural member to a predetermined depth by the hitting operation. It must be equipped with means for determining whether or not to process.

  When hitting prior to insertion of the hozo pipe, if the hozo pipe insertion hole is properly formed, the hitting member can be driven to a predetermined depth, but there is a processing defect such that the hozo pipe insertion hole is not formed. In this case, the striking member cannot be driven to a predetermined depth, so that it can be determined whether or not the hoso-pipe insertion hole is properly formed.

Moreover, this invention can be integrated in a wood precut processing facility. A wood pre-cut processing facility incorporating the present invention comprises a wood carry-in part, a wood work part, a wood carry-out part, and a pre-cut process control means, and uses the pre-cut process data to carry wood from the wood carry-in part. The pre-cut processing control means performs a control process for pre-cutting the processed wood into a structural member for a hardware construction method in the wood processing section and transporting the structural member for the hardware construction method manufactured by the pre-cut processing from the wood unloading section. And the following configuration is also provided.
(21) One of the above-described hardware supply devices is installed so that the articulated robot is positioned on the side of the wood carry-out portion, and the precut processing control means uses the precut processing data as the hardware attachment information. Alternatively, a part is input to the robot control means.

  According to the wood precut processing facility having such a configuration, it is possible to supply hardware as part of the wood precut processing.

Here, the above-mentioned wood precut processing facility may further include the following configuration.
(22) The precut processing control means has a hardware specification data storage unit for storing hardware specification data related to the specifications of hardware that can be handled for the hardware construction method, and the precut processing control means as the hardware identification information, All or a part of the hardware specification data is input to the robot control means.

  According to the wood pre-cut processing equipment with this configuration, hardware specification data related to the specifications of hardware that can be handled for the hardware method (shape, color, weight, type of bolts and nuts used during installation, etc.) is pre-cut. By storing the hardware specification data in the hardware specification data storage unit of the control means and using the hardware specification data as hardware identification information to be input to the robot control means of the hardware supply apparatus, pre-cut processing and hardware supply are performed consistently. In this case, it is possible to make the corresponding relationship appropriate, and to enable effective use of the hardware separation holding unit on the hardware supply apparatus side and supply of appropriate hardware.

These above-mentioned wood precut processing facilities may further include the following configuration.
(23) The precut processing control means is configured such that the precut processing control means inputs all or part of information relating to the progress of the precut processing to the robot control means as the hardware supply timing. .

  Since the precut processing data is configured to process wood continuously, the hardware supply operation on the hardware supply device side may be executed according to the arrival order to the place where the hardware supply operation should be performed by the hardware supply device. However, there may be cases where it is not appropriate to supply hardware in the order of arrival, such as in a house where the precut processing schedule is interrupted or the hardware is combined with the conventional method. . Therefore, by adopting the above-described configuration as well, it is possible to appropriately supply hardware even if the arrival order changes, which makes it more suitable for field work.

  According to the present invention, it is not necessary to prepare a complicated preparation work and an enormous number of shelves when attaching or attaching fittings and fittings to a precut material for a hardware method. be able to.

Example 1 is shown, (A) is a schematic diagram of a precut processing facility, and (B) is a schematic diagram of a hardware supply device. It is a perspective view which shows the house design example. It is a perspective view which shows the house design example. It is explanatory drawing which matched the example of a house design, and the hardware total list. It is explanatory drawing which matched the example of a house design, and the hardware total list. It is explanatory drawing which matched the example of a house design, and the hardware total list. FIG. 2 is a block diagram illustrating a control system according to the first embodiment. The control process of Example 1 is shown, (A) is a flowchart of a hardware list creation program, (B), (C) is explanatory drawing of the hardware list creation example. The control processing of Example 1 is shown, (A) is a flowchart of a classification holding area setting program, and (B) and (C) are explanatory diagrams of a classification holding area setting example. It is a flowchart of the hardware separation holding program which shows the control processing of Example 1. FIG. It is a flowchart of the hardware supply program which shows the control processing of Example 1. FIG. It is a schematic diagram of the hardware supply apparatus of Example 2. 6 is a block diagram showing a control system of Embodiment 2. FIG. 10 is a flowchart of a suitability determination program showing control processing according to the second embodiment. It is a schematic diagram of the hardware supply apparatus of Example 3. It is a block diagram which shows the control system of Example 3. FIG. 10 is a flowchart illustrating a separation holding program according to the third embodiment. FIG. It is a flowchart of the hardware preparation and attachment program, showing the control processing of the third embodiment. Fig. 10 is a flowchart of an attachment propriety program showing a control process of the third embodiment.

  Below, the Example of the wood precut processing equipment provided with the hardware supply apparatus to which this invention is applied is described.

  As shown in FIG. 1 (A), the wood precut processing facility 1 of the first embodiment is an apparatus for manufacturing a structural member KKB for a hardware method, and a wood carry-in section 10 for carrying in a wood W to be processed. A wood processing unit 20 that pre-cuts the wood W carried from the wood carry-in unit 10 into a structural member KKB based on the pre-cut processing data PCD, and a wood unloading unit that carries out the structural member KKB processed by the wood processing unit 20 And a hardware supply device 100 for supplying a hardware group KMG including a group of hardware KM attached to the structural member KKB.

  The precut processing data PCD is created by the precut data creation device 50 and input to the precut processing control device 70. Input of the precut processing data PCD from the precut data creation device 50 to the precut processing control device 70 may employ either a wired or wireless online method or an offline method with a storage medium interposed. The precut processing data PCD includes information such as a precut processing schedule, a CAM for performing each processing, and the type, number, and mounting position of hardware attached to a structural member to which the hardware is attached.

  Here, the hardware specification data KMD for “various hardware in general distribution” and “custom hardware not generally distributed” is input in the precut data creation device 50 in advance. In this specification, the hardware specification data KMD is used as a general term for the specification data KMD01, KMD02,... For each hardware, and when referring to the specification data of each hardware, KMD01, KMD02, KMDn, etc. . Each piece of hardware specification data KMDn is data including information specific to each piece of hardware such as size, shape, color, and weight.

  In addition, for the precut data creation device 50, an object such as a floor plan of a target house is input, and various conditions and information for processing wood are input to the structural member KKB. A computer program is installed to design the housing structure of the house. This computer program is configured so as to be able to determine the working shape of the joint and joint for each structural member so as to correspond to the hardware specification data KMD.

  The precut processing data PCD created by the precut data creation device 50 includes information indicating the content of processing such as the type, material formation, length, joint, joint shape, etc. of the structural member to be precut, and the structure. Consists of information that can specify the type of hardware to be attached to individual joints and joints formed on the member, and property information, member information, hardware mounting information, and marking information such as street addresses that are printed on the structural member Is done.

  In addition, the precut processing data PCD is finally determined by using various calculation methods such as a section determination process in consideration of structural strength and a tree picking process in consideration of effective use of timber. Generated as a series of data that allows precut processing to be executed continuously according to a series of processing schedules, such as for each type of structural member such as a horizontal member, a pillar material, and a feather material. .

  In operating the precut processing facility 1, the worker inputs the wood W into the wood carry-in portion 10 in consideration of the processing order according to the processing schedule adopted when the precut processing data PCD is created.

  The precut processing control device 70 outputs a command for executing drive control corresponding to the precut processing data PCD given from the precut processing control device 70 to devices such as a conveyor and a pusher provided in the wood carry-in unit 10. To do. As a result, the wood W is sequentially conveyed from the wood carry-in unit 10 to the wood processing unit 20 according to the processing schedule.

  The pre-cut processing control device 70 corresponds to the pre-cut processing data PCD given from the pre-cut processing control device 70 to devices such as clampers, vices, and conveyors provided in the wood processing unit 20, and the wood W in the wood processing unit. Outputs a command to execute drive control so as to carry, position, etc. Further, with respect to processing equipment such as a circular saw, cutter, router, cone, and corner provided in the wood processing unit 20, the processing unit corresponds to the precut processing data PCD given from the precut processing control device 70. Executes edge cutting, full length cutting, side surface processing, top and bottom surface processing, lip processing, etc. for the positioned wood W, and further drives the printing device based on the marking information to provide property information / member information / A command is output from the precut processing control device 70 to the wood processing unit 20 so as to execute printing of hardware attachment information / street address. As a result, the wood W carried into the wood processing unit 20 is processed into the structural member KKB. The structural member KKB is formed with a hardware attachment portion KMTB for attaching individual hardware KM used when assembling to form a housing structure of a house. It should be noted that the structural member KKB is also processed other than the hardware attachment portion, such as a notch corresponding to a joist or rafter. In addition, the processing target is not limited to the structural member, but a feather pattern material such as a joist or rafter in which the hardware attachment portion is not formed can be the processing target.

  The precut processing control device 70 outputs a command for executing drive control corresponding to the precut processing data PCD given from the precut processing control device 70 to a device such as a conveyor provided in the wood carry-out unit 30. . As a result, the structural member KKB subjected to the precut processing is sequentially conveyed according to the processing schedule. In the present embodiment, the structural member KKB to which the hardware is to be attached is supplied to the hardware in the vicinity of the end of the timber unloading unit 30 and then sent to packaging / shipping.

  The hardware supply device 100 is configured to execute the supply of hardware for each structural member based on the precut processing data PCD and the hardware specification data KMD input from the precut data creation device 50.

  As shown in FIG. 1 (B), the hardware supply device 100 includes an articulated robot 110 capable of operation with 6 degrees of freedom, a hardware mixed holding section 120, a temporary placement section 130, a hardware sorting holding section 140, Cameras 151 and 152, a robot control device 160, and a display 170 are provided.

  The hardware mixed holding section 120 has a tray-shaped receiving section 121 that is large enough to receive a plurality of types of hardware simultaneously. The display 170 is installed in the vicinity of the hardware mixed holding unit 120 and displays the type and number of hardware to be prepared for hardware supply based on the hardware list KMLST transmitted from the robot controller 160. The hardware list KMLST is generated by the robot control device 160 calculating the type and number of hardware necessary for the current continuous machining based on the precut machining data PCD. Based on the hardware list KMLST displayed on the display 170, the worker brings in the corresponding types of hardware, for example, in units of boxes or in a mixed state in a returnable box, The mixed holding unit 120 is loaded into the tray-shaped receiving unit 121. As a result, the tray-shaped receiving unit 121 receives a plurality of types of hardware in an overlapping state.

  The camera 151 is installed so that an entire image of the tray-shaped receiving unit 121 can be acquired. Image data PHT01 acquired by the camera 151 is transmitted to the robot controller 160. The robot control device 160, based on the image data PHT01 sent from the camera 151, among the plurality of hardware thrown into the tray-like receiving portion 121 so as not to overlap other hardware. Image processing is performed for individual identification that identifies the target as a target. Then, by driving and controlling the articulated robot 110, the hardware to be picked up is moved to the temporary placement tray 131 of the temporary placement unit 130.

  The camera 152 is installed so that an entire image of the temporary storage tray 131 can be acquired. Image data PHT02 acquired by the camera 152 is transmitted to the robot controller 160. The robot control device 160 identifies the type of hardware temporarily placed on the temporary placement tray 131 by comparing the image data PHT02 sent from the camera 152 with the hardware specification data KMD input from the precut data generation device 50. Image processing for hardware type identification is executed. Then, the articulated robot 110 is driven and controlled to move from the temporary tray 131 to one of the predetermined separation holding areas 141, 142,... Allocated to the hardware separation holding unit 140 according to the specified type of hardware. To do.

  Here, the robot controller 160 determines how many kinds of hardware are necessary for supply based on the hardware list KMLST generated based on the precut processing data PCD, and sorts and holds the hardware by type. .. Are allocated in the hardware classification holding unit 140 so that the result of the allocation is stored. Then, based on the result of the allocation, the hardware whose type has been identified is moved to the corresponding separation holding area. At this time, the number of pieces of hardware that are separated and stored in each separation holding area is stored. The number of hardware is calculated by incrementing the count value for each separation holding area every time the transfer operation is performed, so that the number of pieces of hardware finally sorted and held in the separation holding area is integrated. ing. Since the segregation holding area is allocated for each type of hardware, it is possible to integrate in a distinguishable manner how many types of hardware are stocked.

  The accumulated information is converted into data as a hardware acceptance list KINLST, and can be used to determine the excess or deficiency of the accepted hardware by comparing with the hardware list KMLST created based on the precut processing data PCD. In particular, when there is a shortage of hardware, the display 170 displays a shortage hardware list KFLST indicating the type and number of hardware shortages and notifies the operator by lamps, buzzers, etc. to encourage the worker to replenish. ing.

  In this way, the robot control device 160 causes the articulated robot 110 to repeatedly perform the picking-up operation of the hardware and the transfer operation for separating and holding, so that the hardware supply device 100 can perform a function such as one building or half a day. In addition, the hardware to be supplied to the series of structural members manufactured by the precut process can be prepared in advance in a state of being sorted and arranged according to type. At this time, since it is sufficient if the necessary types and numbers are satisfied, as a process in the case where an excessive number of hardware remains in the hardware mixed holding section 120, the hardware separation holding section 140 is used even if it becomes excessive. A method of separating and holding, a method of leaving extra hardware in the hardware mixed holding unit 120, a method of returning hardware in the hardware mixed holding unit 120 to a return box or collecting in a dedicated collection container, etc. The processing may be performed by various methods.

  In this way, the hardware that is separated and stocked into the hardware separation holding unit 140 so as to satisfy the necessary types and satisfy the required number is transferred to the structural member KKB that has been moved to the hardware supply area 31 of the wood carry-out unit 30. Supplied. At this time, the robot control device 160 identifies the structural member KKB that has been moved to the hardware supply region 31 based on the precut processing data PCD input from the precut processing control device 70, and attaches it to the structural member KKB. Calculate the type and number of hardware. Based on the calculation result, the articulated robot 110 is driven and controlled, and a necessary number of necessary types of hardware are extracted from the hardware sorting and holding unit 140, and are distributed to the distribution tray 180 installed in the temporary storage unit 130. And store. Then, after storing the necessary number of necessary types of hardware, the robot controller 160 controls the articulated robot 110 so as to move the distribution tray 180 to the hardware supply area 31. Thereby, a necessary number of necessary kinds of hardware can be supplied for each structural member to which hardware is to be attached.

  Next, a design example of a house to which the hardware method is applied will be described. 2 to 4 are examples of hardware application for a certain house.

  FIG. 2 shows a hardware attachment state for the beam beam 1 and beam beam 2 of the house. In this example, for the beam girder 1, the beam support TH-18 = 4 pieces, TH-10 = 1 piece, the cover tenon HDP-10 = 6 pieces, the hexagon bolt MZ-125 = 9 pieces, the drift pin DP. Designed to mount −103 = 23. Similarly, for beam girder 2, the design is such that beam receiver TH-18 = 5, cover tenon HDP-10 = 5, hexagon bolt MZ-125 = 10, and drift pin DP-103 = 22. It has become. In addition, X and Y attached to the beam receivers TH-18 and TH-10 are mounting directions.

  FIG. 3 shows a hardware attachment state with respect to the beam 1012, the beam 1013, the shed bundle, the column 1015, and the column 1016 of the house. Here, the beam 1012 and the beam 1013 are connected to each other to form one long beam. In this example, for the beam 1012, the beam support TH-18 = 3, the cover tenon HDP-10 = 1, the hexagon bolt MZ-125 = 2, the hexagon bolt MB-135 = 2, the drift pin It is designed to mount DP-103 = 11 pieces. Similarly, the beam 1013 is designed to be attached with two beam receivers TH-18 = 2, two hexagon bolts MZ-125 = 2, and six drift pins DP-103. In addition, each shed bundle is designed to have two cover tenons HDP-10 = 2 and three drift pins DP-103 = 3. Further, the pillar 1015 is designed to be equipped with 2 beam support TH-18 = 2 pieces, covering tenon HDP-10 = 1 piece, hexagon bolt MZ-125 = 4 pieces, and drift pin DP-103 = 7 pieces. The column 1016 is designed to have two cover tenons HDP-10 = 2 and three drift pins DP-103 = 3.

  FIG. 4 is a hardware tabulation list showing the hardware necessary for one house by type and number. FIG. 5 shows a hardware total list when hardware is changed to a general distribution product of a different manufacturer for the same house. Further, FIG. 6 shows a hardware tabulation list for another house. These hardwares are generally constructed by a construction shop or the like attached to a structural member at a construction site. However, there are cases where the construction company requests the pre-cut factory to ship the structural member with the hardware attached, or may request that the structural member be shipped together with the structural member even if it is not attached. When the precut factory is requested to attach or enclose hardware, the precut factory collects the types and number of hardware corresponding to the hardware summary list shown in FIGS. It is necessary to enclose or attach to a structural member, which causes problems such as an increase in the number of work steps in a precut factory and an increase in the number of personnel for handling hardware.

  On the other hand, according to the present embodiment, the operator follows the instruction of the hardware list displayed on the display 170 based on the hardware list KMLST generated by the robot control device 160 from the precut processing data PCD and the hardware specification data KMD. It is only necessary to carry the corresponding hardware in a box unit or mixedly in a returnable box and put it into the hardware mixed holding unit 120. A large number of hardware thrown into the hardware mixed holding unit 120 is individually identified by the robot control device 160 by image processing based on the image data PHT01 acquired by the camera 151, and the hardware on which other hardware does not overlap is specified. After picking them up, they are temporarily placed in the temporary placement unit 130, and based on the image data PHT02 and the hardware specification data KMD acquired by the camera 152, the hardware type is identified, and is separated and held in the hardware separation holding unit 140. As described above, the articulated robot 110 is driven and controlled. At this time, the robot controller 160 sorts and holds the hardware based on the hardware list KMLST so that the hardware is sorted by type with respect to the classification holding areas 141, 142,... Assigned to the hardware strike classification holding unit 140. 4, the design illustrated in FIG. 5, and the design illustrated in FIG. 6, an appropriate separation holding area is allocated to the same hardware separation holding unit 140. Can be used. This eliminates the burden of providing an enormous number of shelves to prepare shelves for each type of hardware.

  And, when supplying hardware, it is necessary for each structural member from among the hardware stocked in advance to the hardware separation holding unit 140 so as to satisfy the necessary number by arranging by type. The robot controller 160 causes the articulated robot 110 to collect the type and number of hardware specified based on the precut machining data PCD in order to extract and supply the necessary number of types of hardware. It is implemented by controlling the drive.

  By repeatedly performing this hardware supply operation, when the supply of hardware to the structural member KKB manufactured for one building or half a day is completed by the current line operation, allocation of the separation holding area to the hardware separation holding unit 140 is performed. At the same time as resetting, it is determined whether there is any remaining hardware, and if there is any remaining hardware, a recovery operation by the articulated robot 110 is performed so that it can be recovered into a returnable box or a dedicated recovery container. Let A method of determining the presence or absence of the remaining hardware by performing a process of subtracting the number of corresponding hardware from the hardware acceptance list KINLST as the supply operation proceeds, and determining from the presence or absence of hardware that is not zero when the hardware supply is completed. Can be adopted. Note that a method of performing an operation of causing the robot control device 160 to execute a collecting operation when the worker visually confirms the rest of the hardware may be employed.

  Next, the contents of the control process executed by the robot controller 160 in the present embodiment will be described.

  As illustrated in FIG. 7, the robot control device 160 is configured by a computer including an arithmetic processing unit 161, a storage unit 162, and an input / output unit 163. In addition to the precut data creation device 50, the precut processing control device 70, the articulated robot 110, the cameras 151 and 152, and the display 170, the input / output unit 163 is connected to a carry-out detection sensor 190 installed in the wood carry-out unit 30. The The storage unit 162 includes a hardware specification data storage unit 162A, a precut processing data storage unit 162B, a hardware list storage unit 162C, an area setting storage unit 162D, and an acceptance list storage unit 162E.

  The hardware specification data storage unit 162A stores the hardware specification data KMD input from the precut data creation device 50. Similarly, the precut processing data storage unit 162B stores the precut processing data PCD input from the precut data creation device 50. The hardware list storage unit 162C stores a hardware list KMLST generated based on the precut processing data PCD. The area setting storage unit 162D stores information for specifying the classification holding area set in the hardware classification holding unit 140 based on the hardware list KMLST. The acceptance list storage unit 162E stores a hardware acceptance list KINLST in which the number of pieces of hardware separately held in the hardware classification holding unit 140 is calculated for each type.

  A computer program for executing various calculations based on data input / output via the input / output unit 163 is installed in the calculation control unit 161.

  As shown in FIG. 7, the arithmetic control unit 161 includes a hardware list generation program (S100) for generating a hardware list KMLST based on the precut processing data PCD, and a hardware classification holding unit 140 based on the hardware list KMLST. A separation holding area setting program (S200) for setting a separation holding area, a hardware separation holding program for picking up hardware from the hardware mixed holding section 120 based on the results of S100 and S200 and transferring it to the hardware separation holding section 140 ( S300), a hardware supply program (S400) for collecting hardware from the hardware separation holding unit 140 and supplying it to the structural member is installed.

  The hardware list generation program (S100) is shown in FIG. According to this program, the arithmetic processing unit 161 of the robot control device 160 executes the following processing, thereby generating a hardware list KMLST.

  First, the precut machining data PCD is read from the precut machining data storage unit 162B (S110), the number of pieces of hardware to be attached to the structural member is extracted in order from the one with the fastest machining order according to the precut machining schedule, and written to the working memory. Processing is executed (S120). This process is repeated until all the structural members have been extracted for each type of hardware (S130 → S120). In this way, when extraction of the number of all the structural members for each type of hardware is completed (S130: YES), a hardware list KMLST is generated (S140) and stored in the hardware list storage unit 162C (S150).

  With this processing, for example, in the example of the house shown in FIG. 4, as shown in FIG. 8B, “Pact nut”, “MZ-125”, “MB-135”, “DP-85”, “DP-103”, “ For nine types of hardware such as HDP-10, TH-10, TH-18, and GJ-10, “86” “58” “28” “24” “305” “74” “ The hardware list KMLST01 corresponding to the number of each of the nine types of hardware, “58”, “28”, “3”, is generated. In the example of the house shown in FIG. 5, as shown in FIG. 8 (C), “Nut” “Z-28 × 2.8” “HSF-95” “HSD-103” “HSP-100L” “HSS-” "52" "52" for 12 kinds of hardware for "10L", "HSS-10LN", "HSS-10R", "HSS-18L", "HSS-18LN", "HSS-18R" and "HSS-D" “77” “309” “74” “32” “13” “1” “17” “6” “5” “6” and the hardware list KMLST02 corresponding to the number of each of the 12 types of hardware are generated.

  The classification holding area setting program (S200) is shown in FIG. According to this program, the arithmetic processing unit 161 of the robot control device 160 executes the following processing, whereby a separation holding area is set in the hardware classification holding unit 140.

  First, the setting of the separation holding area in the area setting storage unit 162D is reset (S210). Subsequently, the hardware list KMLST is read from the hardware list storage unit 162C (S220), and the number of separation holding areas to be set in the hardware separation holding unit 140 is determined (S230). Subsequently, the size of each separation holding area is determined based on the number of hardware to be held in each separation holding area (S240). Then, based on the number determined in S220 and the size determined in S230, each classification holding area to be set in the hardware classification holding unit 140 is set (S250), and the result is stored in the area setting storage unit 162D ( S260). The classification holding area is determined by the articulated robot 160, for example, by specifying a range based on position coordinates in the entire area of the classification holding unit 140, or when a holding pin or hole is provided, the pin or hole number. It is good to set using the information which can specify the position in the transfer operation and the collection operation.

  With this process, for example, in the example of the house shown in FIG. 4, as shown in FIG. 9B, “Pactnut”, “MZ-125”, “MB-135”, “DP-85”, “DP-103”, “ For the nine types of hardware of HDP-10, TH-10, TH-18, and GJ-10, separation holding areas AREA01 to AREA09 are set in consideration of the number. In the example of the house shown in FIG. As shown in FIG. 9C, “Nut” “Z-28 × 2.8” “HSF-95” “HSD-103” “HSP-100L” “HSS-10L” “HSS-10LN” “HSS” For 12 types of hardware, “−10R”, “HSS-18L”, “HSS-18LN”, “HSS-18R”, and “HSS-D”, the separation holding areas AREA01 to AREA12 in consideration of the number are set.

  The separation holding area AREA01 is set to be an area for holding hardware according to type so that the hardware faces in a predetermined direction and the hardware is arranged without overlapping.

  The hardware segregation holding program (S300) is shown in FIG. In accordance with this program, the arithmetic processing unit 161 of the robot control device 160 executes the following processing, so that the hardware loaded into the hardware mixed holding unit 120 is separated and held in the hardware separation holding unit 140. .

  First, the hardware list storage unit 162C reads the hardware list KMLST, and the classification area setting storage unit 162D reads the setting of the classification holding area (S310). Based on the hardware list KMLST, the type of hardware to be sorted and retained is specified (S320), and the hardware specification data KMDn of each corresponding hardware is read out from the hardware data storage unit 162A and stored in the working memory (S325). . For example, in the case of the hardware list KMLST01 in FIG. 8B, 9 types of hardware specification data KMD01 to KMD09 are stored in the work memory.

  Subsequently, an image PHT01 of the hardware carried into the hardware mixed holding unit 120 imaged by the camera 151 is captured (S330), and the individual identification for specifying the hardware on which other hardware does not overlap is based on the image PHT01. The process is executed (S335). Then, the multi-joint robot 110 is instructed to pick up the hardware individually identified in S335 (S340).

  When picking up by the articulated robot 110 and temporary placement on the temporary placement unit 130 are completed (S345: YES), the temporarily placed hardware image PHT02 captured by the camera 152 is captured (S350), and this image PHT02 is stored. The hardware type identification is executed by collating with the hardware specification data KMDn stored in the working memory in S325 (S355). Then, based on the result of the hardware type identification in S355 and the setting contents of the separation holding area read out in S310, the hardware temporarily placed in the temporary placement unit 140 is transferred to the corresponding separation holding area in the hardware separation holding unit 140. The articulated robot 110 is instructed to perform the operation (S360).

  In this way, when the hardware is picked up from the hardware mixed holding unit 120 one by one and transferred to the hardware separation holding unit 140, the number of the corresponding hardware received is incremented (S370). Then, the processes of S330 to S370 are repeatedly executed until the number of received hardware items in the hardware list KMLST is satisfied (S380 → S330). Then, when the accepted number of hardware items in the hardware list KMLST satisfies the required number (S380: YES), a hardware acceptance list KINLST is generated and stored in the acceptance list storage unit 162E (S385). In addition, when there is no hardware in the hardware mixed holding unit 120 before the necessary number of hardware is received in S380 (S390: NO), there is a shortage due to the comparison between the hardware information received before that time and the hardware list KMLST. A hardware list KFLST is generated and displayed on the display 170, and a shortage notification using a buzzer or the like is executed (S395).

  In this way, the hardware loaded in a mixed state with the hardware mixed holding unit 120 is arranged by type in the sorting area AREA01 set in the hardware sorting holding unit 140 without overlapping each other in a predetermined direction. It will be in the state where it was separated and kept so that it might become a state.

  A hardware supply program (S400) is shown in FIG. According to this program, the arithmetic processing unit 161 of the robot control device 160 executes the following processing, whereby the collection and supply of hardware to be supplied from the hardware classification holding unit 140 for each structural member is performed.

  When a wood carry-out signal is input from the carry-out detection sensor 190 installed in the wood carry-out unit 30 (S410: YES), the precut processing data PCD is read from the precut data storage unit 162B (S415). Then, according to the precut processing schedule in the read precut processing data PCD, the structural member to be attached this time is specified (S420), and the type and number of hardware attached to the structural member are extracted and written to the working memory (S425). ).

  Subsequently, based on the type and number of hardware written in the working memory in S425, the articulated robot 110 performs an operation of collecting hardware from the hardware separation holding unit 140 to the distribution tray 180 provided in the temporary storage unit 130. Command (S430).

  In response to this command, the articulated robot 110 collects one piece of hardware from the hardware separation holding unit 140 and executes an operation of moving it to the distribution tray 180 of the temporary placement unit 130. Each time a movement of one piece of hardware is completed, the acceptance number is decremented for the corresponding piece of hardware in the hardware acceptance list KINLST (S440). Then, the hardware collection process is repeatedly executed until the collection of all the hardware for which collection is instructed in S430 is completed (S450 → S430). When all of the hardware to be collected has been moved to the distribution tray 180 (S450: YES), the hardware is supplied to the structural member KKB that has been transported to the hardware supply area 31 near the end of the wood carry-out section 30. In order to do this, the articulated robot 110 is instructed to move the distribution tray 180 (S460).

  As shown in FIG. 12, the second embodiment includes a weight measuring device 200 in the hardware supply area 31 near the terminal end of the wood carry-out section 30 in addition to the device configuration of the first embodiment, and inputs / outputs of the robot control device 160. The printer 210 is further connected to the unit 163. Further, as shown in FIG. 13, the arithmetic processing unit 161 of the robot control device 160 has a hardware list generation program (S100), a classification holding area setting program (S200), a hardware classification holding program (Similar to the first embodiment). S300), the hardware supply program (S400) is installed, and the suitability determination program (S500) for determining whether or not the supply of hardware is properly performed is also installed. A weight measuring device 200 and a printer 210 are also connected to the input / output unit 163.

  FIG. 14 shows the suitability determination program (S500). According to this program, the arithmetic processing unit 161 of the robot control device 160 executes the following processing, thereby determining whether or not the hardware to be attached to the structural member KKB has been properly supplied.

  When a wood carry-out signal is input from the carry-out detection sensor 190 installed in the wood carry-out unit 30 (S510: YES), the precut processing data PCD is read from the precut data storage unit 162B (S515). Then, according to the precut processing schedule in the read precut processing data PCD, the structural member to be attached this time is specified (S520), and the type and number of hardware attached to the structural member are extracted and written to the working memory (S525). ).

  Subsequently, based on the type of hardware written in the working memory in S525, all the hardware extracted in S525 is read out from the hardware specification data storage unit 162A, information regarding the weight of the corresponding hardware, and multiplied by the number of the hardware. To calculate the hardware total weight calculation value KMW (S530).

  Next, the weight measurement value WHT01 of only the structural member KKB before the hardware supply is taken in from the weight measurement device 200 installed in the wood carry-out unit 30 (S540). During this time, the processing of S460 in the hardware supply program (S400) is set to a standby state, and S460 is executed after S540 is completed. Thus, after S460 is executed and the hardware is supplied, the weight measurement value WHT02 which is the sum of the structural member KKB and the hardware group KMG after the hardware supply is again taken in from the weight measurement device 200 (S550).

  Next, a weight difference ΔWHT = WHT02−WHT01 is calculated (S560). Then, it is determined whether or not the weight difference ΔWHT is equal to the hardware total weight calculation value KMW (S570). At this time, a value obtained by subtracting the weight of the distribution tray 180 from ΔWHT is used.

  If the determination in S570 is YES, the current process is terminated, and if the determination is NO, an error list ERRRLST is generated and output from the printer 210 (S580). The error list ERRLST is composed of information that associates the member number for identifying the structural member with the insufficient weight, and the worker sees the structural member in which the lack of hardware is identified and is missing from the insufficient weight. Make the hardware predictable. From the correspondence between the insufficient weight and the hardware specification data KMD, it is more preferable that the prediction information of the missing hardware is also written. In this case, when it is not possible to identify any of the plurality of hardware that may be missing, it is possible to list all of the plurality of hardware that may be missing. Information on hardware to be attached in precut processing is printed on the structural member, so that information that can be referred to when collating this information with hardware is output as an error list ERRRLST, which is effective as an aid in replenishment work can do.

  According to the second embodiment, the determination based on the weight of the structural member before and after the supply of the hardware can be performed, so that the determination based on the total weight of the hardware with the determined individual weight can be performed. It is possible to execute an accurate determination that eliminates factors that may cause errors such as variations and differences in processing types for each structural member. In addition, by outputting the determination result as an error list ERRRLST to the printer, it is possible to alert the worker and replenish the deficient hardware manually.

  In the third embodiment, instead of the hardware supply device 100 of the first embodiment, as shown in FIG. 15, an articulated robot 510 for separating hardware and an articulated robot 550 for mounting hardware are controlled by a robot controller 560. The hardware supply apparatus 500 provided with these. Further, the hardware-mixed holding section includes a return-box storage area 520 in which a plurality of return boxes BOX01, BOX02,... Can be placed, and a plurality of small boxes LBX1, LBX2,. A small box storage 530 is provided. A camera 540 is installed in the returnable box storage area 520, and a work table 570 for attaching hardware to a structural member taken in from the wood carry-out unit 30 is also provided. The work table 570 is provided with a weight measuring device 580 similar to that of the second embodiment. Further, a printer 590 for outputting an error list is also provided. The work table 570 is configured so that a part of the work table 570 can be used as a hardware preparation unit 575 for preparing a hardware group KMGn + 1, KMGn + 2,... Has been.

  The return box storage area 520 is provided with a conveyor mechanism capable of forward and backward feeding of the return boxes BOX1, BOX2,. The small box storage 530 is also provided with a conveyor mechanism that can forward and reverse the small boxes LBX1, LBX2,. The conveyor mechanisms of the return box storage 520 and the small box storage 530 are driven and controlled by the robot controller 560. As in the first embodiment, the robot controller 560 receives precut processing data PCD and hardware specification data KMD from the precut data creation device 50. In this embodiment, a member specifying command BTC for specifying a structural member to be supplied with hardware is input from the precut processing control device 70. Furthermore, the robot control device 560 receives the image PH11 captured by the camera 540 and the weight measurement values WHT011 and WHT12 before and after mounting the hardware measured by the weight measuring device 580, and whether or not the hardware mounting is performed based on the result of the weight measurement. The determination result is output from the printer 590.

  For this reason, as shown in FIG. 16, the robot control device 560 is configured by a computer including an arithmetic processing unit 561, a storage unit 562, and an input / output unit 563. The input / output unit 563 includes a precut data creation device 50, a precut processing control device 70, articulated robots 510 and 550, a conveyor mechanism 521 of a return box storage 520, a conveyor mechanism 522 of a small box storage 530, a camera 540, and a weight measurement device. A printer 590 and a printer 590 are connected. The storage unit 562 includes a hardware specification data storage unit 562A, a precut processing data storage unit 562B, a hardware list storage unit 562C, an area setting storage unit 562D, and an acceptance list storage unit 562E similar to those in the first embodiment.

  The arithmetic control unit 561 is installed with a hardware list generation program (S100), a separation holding program (S600), a hardware preparation / attachment program (S700), and an attachment suitability determination program (S800). The hardware list generation program (S100) has the same contents as in the first embodiment.

  The separation and holding program (S600) sets the separation holding area for separating and holding the small boxes LBX1, LBX2,... A pick-up operation and a transfer operation for transferring to LBX2,... Are executed. At this time, when the small boxes LBX1, LBX2,... Are insufficient as the separation holding area, if there are empty boxes in the return boxes BOX1, BOX2,..., The empty return boxes are added to the separation holding area. It is comprised so that a process may also be performed. This separation holding program (S600) is shown in FIG.

  First, the setting of the separation holding area in the area setting storage unit 562D is reset (S610). Next, the hardware specification data KMD, the precut processing data PCD, and the hardware list KMLST are read from the hardware specification data storage unit 562A, the precut processing data storage unit 562B, and the hardware list storage unit 562C and stored in the work memory (S612).

  Next, based on the precut processing data PCD, the type and number of hardware to be attached to the structural member at the head of the processing schedule are extracted (S620), and a plurality of small boxes placed in the small box storage area 530 are extracted. On the other hand, the divided holding area is allocated (S622). At this time, based on the hardware specification data KMD and the storable capacity SKV of the small box, the divided holding areas are allocated in consideration of how many small boxes are allocated to which type of hardware. For example, if the structural members illustrated in FIG. 17B are processed in the first order for attaching hardware, one small box is assigned to each of “HDP-10” and “DP-103”. .

  Then, the image PHT11 from the camera 540 is captured (S630), and a search for a returnable box containing the type of hardware extracted in S620 is executed (S632). This return box search is performed by repeatedly driving / stopping the conveyor mechanism 521 of the return box storage area 520 and determining whether the captured image PHT11 matches the image characteristics specified from the hardware specification data KMD. Run.

  If the returnable box is thus searched, the articulated robot 510 is instructed to perform a picking-up operation and a transfer operation to the small box assigned as the separation holding area (S640), and the capacity of the corresponding small box can be stored. The SKV is decreased according to the number of hardware transferred (S642). Further, similarly to the first embodiment, the hardware acceptance list KINLST is generated (S644).

  It is determined whether there is a next structural member (S650). In the case of “NO”, the process is terminated, and in the case of “YES”, the same hardware segregation holding control as the process from S620 to S644 is executed (S655). At this time, when allocating the divided holding area in S622, it is determined whether or not a small box has already been allocated for the same type of hardware (S660). If the determination in S660 is “NO”, the process returns to S650. On the other hand, if the determination in S660 is “YES”, it is determined whether or not the capacity SKV that can be stored in the small box is insufficient when performing the current separation holding (S662). If the determination in S662 is “NO”, the process returns to S650. If the determination in S662 is “YES”, it is determined whether or not a small box can be added (S664). If a small box can be added (S664: YES), the number of small boxes allocated to the same type of hardware is added (S666), and the process returns to S650.

  On the other hand, if it is impossible to add a small box (S664: NO), it is determined whether there is an empty box in the return box (S670). Whether or not there is an empty one is executed through a process of taking the image PHT11 from the camera 540 while driving the conveyor mechanism 521 of the returnable box storage area 520 to send the returnable box. If there is an empty returnable box (S670: YES), the returnable box is added to the separation holding area (S672).

  If there is no empty return box (S670: NO), the hardware preparation / attachment program (S700) is activated (S680). In S680, the hardware preparation / attachment program (S700) is activated by starting preparation of the hardware group KMGn + 1, KMGn + 2,... Using the hardware preparation unit 575 set on the work table 570 side. This is to restore the capacity SKV. When S680 is executed, a standby state is entered. Then, in the case where it is possible to hold and hold the hardware separately by the after-mentioned hardware group preparation operation executed by starting S700, the process returns from the standby state and returns to S650. In the present embodiment, whether or not there is the next in S650 is determined by determining whether or not the type and number of hardware in the hardware acceptance list KINLST and the hardware list KMLST match. If the standby state is entered due to a shortage of SKV, the process of S655 is resumed from the continuation of the standby position.

  The hardware preparation / attachment program (S700) is shown in FIG. In accordance with this program, the arithmetic processing unit 561 of the robot control device 560 executes the following processing, whereby a hardware preparation operation and a hardware mounting operation are executed as the hardware supply.

  When a member specifying command BTC is input from the precut processing control device 70 (S710: YES), this program reads the precut processing data PCD from the precut data storage unit 562B (S715). Then, according to the precut processing schedule in the read precut processing data PCD, the structural member to be attached this time is specified (S720), and it is determined whether or not the preparation of the hardware to be attached to the structural member is completed (S722). . If preparation is not completed (S722: NO), the type and number of hardware to be attached to the structural member to be attached this time are extracted and written to the working memory (S725).

  Subsequently, based on the type and number of hardware written in the working memory in S725, the conveyor mechanism 531 of the small box storage 530 is driven to move the small box holding the target hardware to the hardware collection position ( S730). At this time, if the returnable box is additionally set in the separation holding area, the returnable box in which the target hardware is held by driving the conveyor mechanism 521 of the returnable box storage area 520 is moved to the hardware collection position. Move.

  Then, an instruction is given to the articulated robot 550 to collect the hardware from the small box or the return box moved to the hardware collection position and arrange them for each structural member in the hardware preparation unit 575 (S740).

  In response to this command, the articulated robot 550 collects one piece of hardware from the small box or the return box at the hardware collection position, and moves it to the hardware preparation unit 575. Every time movement of one piece of hardware is completed, the number of pieces received for the corresponding piece of hardware in the hardware acceptance list KINLST is decremented (S750). Then, the hardware collection process is repeatedly executed until collection of the hardware to be attached this time is completed (S760 → S730). Then, when the preparation for attachment by collection is completed (S760: YES), the hardware is picked up one by one from the hardware preparation section 575, and the operation of attaching the hardware to the hardware attachment section of the structural member specified by the precut processing data PCD is performed. A command is given to the articulated robot 550 (S770). When the hardware preparation is completed (S722), the process proceeds to S770 after passing through S725 and subsequent steps.

  On the other hand, even when the member specifying command BTC is not input (S710: NO), when the hardware preparation operation is commanded by S680 (S780: YES), according to the precut processing schedule in the precut processing data PCD, Among the structural members that have not been attached, a structural member that is processed quickly is specified (S782), and the type and number of hardware to be attached to the structural member are extracted and written to the working memory (S784). Then, based on the type and number of hardware written in the working memory in S784, as in S730-S760, the small box or the return box is moved to the hardware collection position, and the hardware preparation unit 575 prepares the hardware group. Is commanded to the articulated robot 550 (S790). When the preparation of the hardware group is completed (S792: YES), information for specifying the structural member for which the preparation of the hardware is completed is stored (S794).

  An attachment suitability determination program (S800) is shown in FIG. According to this program, the arithmetic processing unit 561 of the robot control device 560 executes the following processing, thereby determining whether or not the hardware is properly attached to the structural member KKB.

  When a member specifying command BTC is input from the precut processing control device 70 (S810: YES), this program reads the precut processing data PCD from the precut data storage unit 562B (S815). Then, according to the precut processing schedule in the read precut processing data PCD, the structural member to be attached this time is specified (S820), and the type and number of hardware attached to the structural member are extracted and written to the working memory (S825). ).

  Subsequently, based on the type of hardware written in the working memory in S825, information on the weight of the corresponding hardware is read from the hardware specification data storage unit 562A, and the processing of multiplying the number of the hardware is all of the hardware extracted in S825. To calculate the hardware total weight calculation value KMW (S830).

  Next, the weight measurement value WHT11 of only the structural member KKB before mounting the hardware is taken in from the weight measurement device 580 (S840). During this period, the processing of S770 in the hardware preparation / attachment program (S700) is set in a standby state, and S770 is executed after S840 is completed. After S770 is executed and the hardware is attached, the weight measurement value WHT12, which is the sum of the structural member KKB and the hardware group KMG after the attachment of the hardware, is fetched from the weight measurement device 580 again (S850).

  Next, a weight difference ΔWHT = WHT12−WHT11 is calculated (S860). Then, it is determined whether or not the weight difference ΔWHT is equal to the hardware total weight calculation value KMW (S870). If the determination in S870 is NO, an error list ERRRLST is generated and output from the printer 590 as in the fourth embodiment (S880).

  As described above, according to the first to third embodiments, a complicated preparation work and a huge number of shelves are required when attaching or attaching fittings and fittings to a precut material for a hardware method. You don't have to prepare.

  As mentioned above, although the Example of this invention was described, this invention is not restricted to the Example mentioned above, In the range which does not deviate from the summary, it can implement in a various aspect further.

  For example, in the first embodiment, the collection of hardware is started after arrival of the structural member, and the hardware supply is executed after the hardware collection is completed. However, when the supply of the hardware to the previous structural member is completed, The collection of hardware may be started without waiting for the arrival of the next structural member.

  Also, in the first and second embodiments, similarly to the third embodiment, the member specifying command BTC is input from the precut processing control device 70 and moved to the hardware supply region 31 based on the member specifying command BTC. It is also possible to identify the structural member KKB and collect and supply the hardware. By using the member specifying command BTC input from the precut processing control device 70 in supplying the hardware, it is possible to appropriately supply the hardware even if interrupting processing is performed on the precut processing schedule and the arrival order changes. This makes it more suitable for field work.

  Further, although the hardware is attached in the third embodiment, only a part of the hardware may be attached without attaching all of the hardware. When only a part is attached, the hardware that has not been attached can be stored in a storage container such as a plastic bag and attached to an appropriate position on the structural member. In addition, even if it only attaches without attaching a metal fitting, it can also be equipped with the structure which stuffs a plastic bag etc. with a metal and sticks or binds it to the appropriate position of a structural member.

  In addition, the metal separation holding part is provided with a large number of insertion members through which holes can be inserted and insertion holes into which bolt shafts can be inserted. Position information of these insertion members and insertion holes The hardware segregation holding area can also be set using.

  In addition, regarding the attachment suitability determination of hardware, this can be performed by using an image (a difference in silhouette or color) instead of a weight, or measuring a difference in surface temperature.

  Furthermore, with regard to the hozo pipe, it is possible to smoothly perform the mounting operation by driving the punch for forming the expanding guide portion at the opening of the hozo pipe insertion hole into the hozo pipe insertion hole with an articulated robot before mounting the hardware. It is also possible to cause the mounting preparation operation to be performed. In this case, it is also possible to detect a processing defect in the insertion pipe insertion hole from the punching depth when the punch is struck.

  It can be used for wood precut processing for wooden houses.

  DESCRIPTION OF SYMBOLS 1 ... Wood precut processing equipment, 10 ... Wood carrying-in part, 20 ... Wood processing part, 30 ... Wood unloading part, 31 ... Hardware supply area, 50 ... Precut data creation apparatus, DESCRIPTION OF SYMBOLS 70 ... Pre-cut process control apparatus, 100 ... Hardware supply apparatus, 110 ... Articulated robot, 120 ... Hardware mixed holding part, 130 ... Temporary placing part, 140 ... Hardware classification holding part 151, 152 ... Camera, 160 ... Robot controller, 170 ... Display, 180 ... Distribution tray, 200 ... Weight measuring device, 210 ... Printer, 500 ... Hardware Supply device, 510... Articulated robot, 520... Passing box storage space, 530... Small box storage space, 540. ... Work table, 575 ... Hardware preparation unit, 580 ... Weight measuring device, 590 ... Printer, BTC ... Member identification command, KKB ... Structural member, KM ... Hardware, KMD ... hardware specification data, KMG ... hardware group, KLST ... hardware list, PCD ... precut data, PHT01, PHT02, PHT11 ... image data, W ... wood, WHT01, WHT02, WHT11, WHT12 ... Weight measurement value.

Claims (4)

An apparatus that supplies a metal fitting to be attached to a structural member precut for a hardware construction method from a plurality of types of hardware using an articulated robot that is driven and controlled by robot control means. A hardware supply device comprising:
(1A) Within a range in which hardware can be handled by the articulated robot, a hardware mixed holding unit capable of holding a plurality of types of hardware in a mixed loading state, and holding the plurality of types of hardware separately classified by type. A hardware separation holding part that can be used.
(1B) To the robot control means, hardware identification information input means for inputting hardware identification information for identifying the type of the hardware and hardware mounting information in which hardware to be attached for each structural member is associated are input. Hardware installation information input means and hardware supply timing input means for inputting hardware supply timing for supplying hardware to a structural member to be attached are provided.
(1C) The robot control means causes the articulated robot to perform a pick-up operation so as to pick up hardware one by one from the hardware mixed holding unit, and sets the type of the picked-up hardware as the hardware identification information. Based on the result of the identification, a hardware sorting operation that causes the articulated robot to perform a transfer operation of the picked-up hardware so that the hardware is sorted and held by type in the hardware sorting holding unit. Provide control means.
(1D) The robot control means identifies the hardware to be attached to each structural member based on the hardware attachment information, and collects the hardware from the hardware separation holding unit based on the specific result. The hardware collection operation control means for executing the hardware collection operation, and the hardware supply operation for supplying the hardware collected by the hardware collection operation to the structural member to which the hardware is attached based on the hardware supply timing. Hardware supply operation control means to be executed by the articulated robot. The hardware supply apparatus according to claim 1, further comprising the following configuration.
(2A) The robot control means has an area for holding hardware according to type so that the hardware is arranged in a predetermined direction with the hardware facing each other without overlapping each other. Provide area setting means for setting.
(2B) Based on the setting by the area setting unit, the hardware sorting operation control unit holds the hardware in the hardware sorting holding unit so that the hardware is arranged in a predetermined direction without overlapping. Furthermore, it is comprised as a means to perform the said transfer operation | movement by the said articulated robot. The hardware supply device according to claim 1, further comprising the following configuration.
(3) Based on the state of the structural member to be attached before the hardware is supplied and the state of the structural member to be attached after the hardware is supplied, the hardware is appropriately supplied by the articulated robot. Appropriateness determination means for determining whether or not Furthermore, the hardware supply apparatus of Claim 3 provided also with the following structures.
(4A) The hardware identification information includes hardware weight information relating to the individual weight of each hardware, and the total weight of the hardware supplied to each structural member by the hardware supply operation control means is directly or indirectly determined. It is equipped with a weight measuring means for measuring.
(4B) The suitability determining means is calculated by the hardware weight calculating means for calculating the sum of the weights of the hardware attached to the respective structural members based on the hardware mounting information and the hardware weight information, and the hardware weight calculating means. It is configured as means for determining whether or not the hardware is properly supplied to each structural member by comparing the measured weight with the measurement result by the weight measuring means.